JP4547985B2 - Driver perception control device - Google Patents

Description

  The present invention relates to a driver perception control device that increases the stability of a driver's driving operation by controlling the driver's perception, and more particularly relates to a technique for improving a driver's attention acquisition rate.

2. Description of the Related Art Conventionally, an alarm device that alerts a driver by locating a sound image to the driver is known, and in such an alarm device, attention is directed by changing the position and frequency of the sound image. Some attempt to make the driver better perceive the power direction (see, for example, Patent Documents 1 and 2).
JP 2000-236598 A JP 2000-36998 A

  However, the conventional alarm device moves the stationary sound image in the direction that requires the driver's attention or presents the buzzer sound to the position that requires the driver's attention. The main purpose is to guide the vehicle in a specific direction and position, and it does not consider how to acquire the driver's attention in an actual driving scene. Therefore, according to the conventional alarm device, even if the sound image is localized, the driver's attention to the sound image cannot be obtained, and thus the stability of the driving operation of the driver may not be improved.

  The present invention has been made to solve the above-mentioned problems, and its purpose is to improve the stability of the driving operation of the driver by improving the driver's attention acquisition rate. It is in providing a person perception control apparatus.

In order to solve the above-mentioned problems, a driver perception control device according to the present invention is provided in a vehicle, and outputs control means for outputting sound in the passenger compartment, and control for controlling the output means so as to present a sound image to the driver. And the control means mathematically determines at least one of the position, the speed, and the acceleration in the vehicle body fixed coordinate system according to at least one of the vehicle state quantity, the vehicle operation quantity, and the surrounding environment. At least one of the first motion state that changes in a continuous state and the position, velocity, and acceleration in the vehicle body fixed coordinate system is mathematically discontinuous with respect to the position, velocity, and acceleration in the first motion state. When the sound image presentation form is switched between the second operation state that changes depending on the state and the sound image is presented in the first operation state, the movement locus of the sound image is positioned on a single straight line in the vehicle body solid coordinate system. I will do it To control the output means.

In order to solve the above-described problem, a driver perception control device according to the present invention is provided in a vehicle and assumes an output means for outputting sound into a passenger compartment and a virtual wall surface, and a reflected sound from the virtual wall surface is generated. Control means for controlling the output means so as to be included in the sound, and the control means determines the position and speed in the vehicle body fixed coordinate system according to at least one of the vehicle state quantity, the vehicle operation quantity, and the surrounding environment. , Acceleration, angle, angular velocity, and first operating state in which at least one of the angular acceleration changes in a mathematically continuous state, position, velocity, acceleration, angle, angular velocity, and angular acceleration in the vehicle body fixed coordinate system Of the virtual wall surface between at least one of the first operating state, the position, velocity, acceleration, angle, angular velocity, and second operating state that changes mathematically in a discontinuous state with respect to the angular acceleration. Presentation Switching, when presenting the virtual wall surface by a first operating state, the movement locus of the arbitrary point is located on a single plane in the body solid coordinate system on the virtual wall surface, the instantaneous movement center of any point on the virtual wall surface Controls the output means so as to be different from the previous center of instantaneous movement of the sound image.

  According to the driver perception control device according to the present invention, by changing the operation state of a sound image or a virtual wall surface operating in a mathematically continuous state to a mathematically discontinuous state, the driver's attention is given. Since it can acquire efficiently, the stability of a driver | operator's driving operation can be improved reliably.

  As a result of intensive research, the inventors of the present invention have presented a sound image moving in space to the driver in advance, and when it is necessary to acquire the driver's attention, By temporarily stopping the movement or jumping the position of the sound image instantaneously, the driver's attention can be efficiently acquired. In other words, compared with the case where the sound image changes from the localization state to the moving state. It has also been found that the driver's attention can be obtained more efficiently when the vehicle changes from the moving state to the localized state. Hereinafter, with reference to FIG. 1 thru | or FIG. 3, the experimental result which resulted in such knowledge is demonstrated.

  In the experiment conducted by the inventors of the present application, first, as shown in FIG. 1, the white noise generated by the signal generator 1 is output from the speaker 2 and is located at a position about 1.5 [m] away from the speaker 2. The output sound of the speaker 2 is collected by the arranged stereo microphone 3 and the collected output sound is recorded in stereo by the VTR device 4. At this time, the reflecting plate 6 to which the marker 5 is attached is disposed above the stereo microphone 3, the reflecting plate 6 is swung left and right and up and down in the vicinity of the stereo microphone 3, and the movement of the reflecting plate 6 is used as an image for the VTR device 4. To record. The marker 5 is attached so that the position of the reflecting plate 6 can be extracted by processing the video recorded by the VTR device 4.

  Next, as shown in FIG. 2 (a), a speaker 8 is arranged on the extension line of both ears of the subject 7 and at a position about 40 [cm] away from the ear of the subject 7. The voice recorded in stereo by the VTR device 4 is presented to the subject 7. At the same time, as shown in FIG. 2 (b), the subject 7 is focused on the target 9 arranged approximately 5 [m] ahead of the subject 7. And the image | video of the eyeball of the test subject 7 at this time is recorded.

  Then, by performing image processing on the images of the eyeballs of the reflecting plate 6 and the subject 7 recorded by the above processing, the state of change in the pupil diameter of the eyeball with respect to the horizontal position change of the reflecting plate 7 was extracted. FIG. 3 shows the extraction result. As is apparent from the figure, the reflector 6 moves at substantially the same speed and shows a behavior (time t = T1, T2) once stopped at the left and right turning points, whereas the pupil diameter of the subject 7 is Although the reflector 6 is not actually viewed, the fluctuation is stopped when the reflector 6 stops.

  In general, it is known that the pupil diameter is an index representing the depth of human attention. Therefore, based on the above extraction results, the inventors of the present application are more efficient in the driver's attention when the sound image changes from the moving state to the localized state than when the sound image changes from the localized state to the moving state. Thought to be able to win. Hereinafter, the configuration of the driver perception control apparatus, which has been proposed based on the above knowledge and is the first to seventh embodiments of the present invention, will be described.

  First, the configuration of the driver perception control apparatus according to the first embodiment of the present invention will be described with reference to FIGS.

  As shown in FIG. 4, the driver perception control apparatus according to the first embodiment of the present invention includes a sound reproduction device such as a car audio device provided in a vehicle 11, and includes a sound source 12 and a DSP (Digital Signal). Processor) 13, a speaker 14 provided around the driver's head position P, a running state detection unit 15, a vehicle body posture estimation unit 16, and a CPU (Central Processing Unit) 17 as main components. Prepare. The sound source 12, the DSP 13, and the speaker 14 function as output means according to the present invention, and the traveling state detection unit 15, the vehicle body posture estimation unit 16, and the CPU 17 function as control means according to the present invention.

  The sound source 12 includes music and radio broadcast playback sound. Specifically, when the sound source 12 is a reproduced sound of music, the sound source 12 reads out and decodes an audio signal recorded on a recording medium such as a compact disc, and the audio is ready to be output from the speaker 14. Consists of signals. The DSP 13 presents the sound image 31 and the virtual wall surface W to the driver by outputting the sound signal of the sound source 12 through the speaker 14 under the control of the CPU 17 described later.

  As shown in FIG. 5, the running state detection unit 15 includes a vehicle speed-lateral G gain map 21 in which a proportional constant representing a proportional relationship between the steering angle and the turning lateral acceleration (turning lateral G) is described, and the vehicle speed-lateral G. A lateral G gain calculating unit 22 that calculates a turning lateral G gain corresponding to the current vehicle speed with reference to the gain map 21, and a turning lateral G gain calculated by the lateral G gain calculating unit 22 is multiplied by the current steering angle. Accordingly, a multiplication unit 23 that calculates a turning lateral G that represents the turning state of the vehicle 11 is provided.

  Furthermore, the traveling state detection unit 15 stores a vehicle 24 that stores the vehicle speed before one sampling according to the sampling period of the multiplication unit 23, and a subtraction unit that calculates the difference between the vehicle speed stored in the memory 24 and the current vehicle speed. 25 and a divider 26 that calculates the acceleration (deceleration) of the vehicle 11 by dividing the calculated value of the subtractor 25 by the sampling period. Then, the traveling state detection unit 15 inputs the calculated turning lateral G and acceleration (deceleration) of the vehicle 11 to the CPU 17.

  The vehicle body posture detection unit 16 includes a lateral G-roll angle map 27 in which the vehicle body roll angle with respect to the turning lateral G is described, and an acceleration G (deceleration G) -pitch angle map in which the vehicle body pitch angle with respect to acceleration (deceleration) is described. 28, the lateral G-roll angle map 27 and the acceleration G (deceleration G) -pitch angle map 28, the roll angle corresponding to the turning lateral G and acceleration (deceleration) calculated by the traveling state detection unit 15 and And a calculation unit 29 that calculates the pitch angle. Then, the vehicle body posture detection unit 16 inputs the calculated roll angle and pitch angle to the CPU 17 as information representing the vehicle body posture with respect to the earth coordinates.

  In a vehicle that does not have an active-controlled suspension, the vehicle body posture with respect to the turning lateral G or acceleration / deceleration may be calculated by using a single vehicle model. In this embodiment, the vehicle body posture detection unit 16 detects the vehicle body posture based on the turning lateral G or acceleration / deceleration. However, the present invention is not limited to this, and for example, detects the stroke amount of the suspension. A sensor may be provided, and the vehicle body posture may be directly detected with reference to the detection value of this sensor.

  The CPU 17 determines whether or not the turning lateral G and acceleration input from the traveling state detection unit 15 are equal to or less than a predetermined threshold value, so that the vehicle 11 is traveling straight ahead stably (hereinafter, stable It is determined whether or not the vehicle is in a straight traveling state. When the turning lateral G and acceleration are equal to or less than the predetermined threshold, the CPU 17 determines that the vehicle 11 is in a stable straight traveling state, and in order to swing the position of the sound image 31 in the horizontal direction in FIG. ), (B), the characteristics of the DSP 13 are controlled so that a sine curve-shaped horizontal displacement is given to the sound image 31 presented to the driver.

  On the other hand, if the turning lateral G and acceleration are equal to or greater than the predetermined threshold, the CPU 17 determines that it is necessary to obtain the driver's attention, and as shown in FIGS. 7 (a) and 7 (b), The characteristics of the DSP 13 are controlled so that the position of the sound image 31 is discontinuous with respect to the locus in the stable straight traveling state by instantaneously moving the sound image 31 oscillated horizontally in the horizontal direction. . In the present specification, “discontinuous” indicates that a curve representing a temporal change in the sound image position is mathematically indistinguishable. Further, in this embodiment, the CPU 17 changes the characteristics of the DSP 13 according to the turning lateral G and acceleration, but measures the positional relationship with other vehicles by a laser radar provided in front of or behind the vehicle 11, The characteristics of the DSP 13 may be changed according to this positional relationship.

  In this embodiment, when acquiring the driver's attention, the CPU 17 controls the characteristics of the DSP 13 so that the position of the sound image 31 is discontinuous with respect to the locus in the stable straight traveling state. As shown in (a) and (b), the position of the DSP 13 is such that the position is continuous in time so that the speed and acceleration of the sound image 31 are discontinuous with respect to the locus in a stable straight traveling state. May be controlled (in this case, the actual sound image 31 is stopped). In this embodiment, the driver's attention is acquired by instantaneously moving or stopping the sound image 31 in the horizontal direction, but the relationship between mathematical time continuity and discontinuity is maintained. As long as the driver's attention is obtained by other operations, the driver's attention may be obtained. In this embodiment, when the vehicle 11 is in a stable straight traveling state, the CPU 17 controls the characteristics of the DSP 13 so as to give the sound image 31 a horizontal displacement in the form of a sine curve. A displacement other than a sine curve may be given to the sound image 31 as long as it is maintained.

  In this embodiment, the sound image 31 is presented to the driver. However, the position, velocity, acceleration, angle, angular velocity of an arbitrary point on the oscillating virtual wall surface W is presented to the driver, and the oscillating virtual wall surface W is presented to the driver. Further, the driver's attention may be acquired by changing the virtual wall surface W so that at least one of the angular accelerations is discontinuous. The “virtual wall surface” in the present specification virtually assumes a wall surface W above the driver 32 and is transmitted to the ear 33 of the driver 32 via the speaker 14 as shown in FIG. It means the wall surface W perceived by the driver 32 by controlling the characteristics of the DSP 13 so that the sound A reflected by the wall surface W is included in the sound B. Since the method for controlling the characteristics of the DSP 13 is already known at the time of filing of the present invention, a description thereof will be omitted.

  Furthermore, in this embodiment, the DSP 13 is used so that the sound image 31 or the virtual wall surface W can be presented to the driver. However, when only the sound image 31 is presented to the driver, as shown in FIG. An amplifier 34 for driving the speaker 14 may be provided, and the driver's attention may be obtained by changing the output level of the amplifier 34.

  As is apparent from the above description, according to the driver perception control device according to the first embodiment of the present invention, the DSP 13 presents the sound image 31 to the driver, and the vehicle state quantity, the driving operation quantity, and the surroundings. In accordance with at least one of the environments, the CPU 17 includes at least a first operation state in which at least one of the position, speed, and acceleration of the sound image 31 with respect to the vehicle body fixed coordinates changes in a mathematically continuous state; Since one of the characteristics of the DSP 13 is controlled so that the presentation form of the sound image 31 is switched between the second operation state that changes mathematically in a discontinuous state with respect to the first operation state, Attention can be acquired efficiently.

  Further, according to the driver perception control apparatus according to the first embodiment of the present invention, the DSP 13 presents the virtual wall surface W to the driver, and at least one of the vehicle state quantity, the driving operation quantity, and the surrounding environment. Accordingly, the CPU 17 has a first operation state in which at least one of the position, velocity, acceleration, angle, angular velocity, and angular acceleration with respect to the vehicle body fixed coordinates of the virtual wall surface W changes in a mathematically continuous state. Since the characteristics of the DSP 13 are controlled so that the presentation form of the virtual wall surface W is switched between the second operation state in which at least one changes mathematically in a discontinuous state with respect to the first operation state, The driver's attention can be acquired efficiently.

  Furthermore, according to the driver perception control apparatus according to the first embodiment of the present invention, when the vehicle 11 is in a stable straight traveling state, the CPU 17 controls the DSP 13 so that the sound image 31 moves left and right on the horizontal axis. Since the characteristics are controlled, the driver's attention can be obtained by preparing at least two speakers 14.

  Next, the configuration of the driver perception control apparatus according to the second embodiment of the present invention will be described with reference to FIG. The configuration of the driver perception control apparatus according to the second to seventh embodiments of the present invention described below is the driver perception control apparatus in which only the presentation form of the sound image 31 to the driver is the first embodiment. Therefore, only the presentation form of the sound image 31 will be described in detail below.

  In the driver perception control apparatus according to the second embodiment of the present invention, when the vehicle 11 is in a stable straight traveling state, as shown in FIG. 11, the CPU 17 is a speaker provided in the vertical and horizontal positions near the driver's seat. 14, the characteristics of the DSP 13 are controlled so as to present to the driver a sound image 31 that moves in the vertical plane in the vehicle body fixed coordinates. According to such a configuration, since the acceleration / deceleration speed of the sound image movement is reduced as compared with the first embodiment, the time for the sound image 31 to stay at one point is shortened, and the driver's attention is acquired. In addition, the change in state between when the movement trajectory of the sound image 31 is discontinuous with respect to the trajectory in the stable straight traveling state becomes clear. Therefore, according to this embodiment, it becomes easier for the driver to perceive the change in the presentation form of the sound image 31, and the driver's attention acquisition rate can be further improved. Moreover, according to this embodiment, a driver | operator's attention can be acquired using the sound reproduction apparatus which has a speaker on either side provided in a common vehicle.

  In this embodiment, since the movement trajectory of the sound image 31 is located in a plane, the movement of the sound image 31 is discontinuous by changing the movement trajectory to an acute angle in addition to the stop of the sound image and the instantaneous movement. Gives sex and gains driver attention. Further, according to this embodiment, when the vehicle 11 is in a stable straight traveling state, it is necessary to control the characteristics of the DSP 13 so that the sound image 31 draws a circular orbit having a center of rotation and to acquire the driver's attention. When it becomes, it is possible to give a sensory discontinuity by jumping the position of the instantaneous moving center of the sound image 31, and to obtain the driver's attention. Therefore, the discontinuity is not necessarily a mathematical discontinuity. It does not have to be.

  In this embodiment, the CPU 17 controls the characteristics of the DSP 13 so that the sound image 31 draws a circular trajectory. May be controlled. Furthermore, in this embodiment, for the sake of brevity, the sound image 31 is moved in the vertical plane in the vehicle body solid coordinate system. The sound image 31 may be moved in the horizontal plane of the system. In this embodiment, the sound image 31 is presented to the driver, but the virtual wall surface W may be presented to the driver by a similar method.

  Next, with reference to FIG. 12, the structure of the driver | operator perception control apparatus which becomes the 3rd Embodiment of this invention is demonstrated.

  In the driver perception control apparatus according to the third embodiment of the present invention, when the vehicle 11 is in a stable straight traveling state, the CPU 17 is provided at the top, bottom, left and right and front and rear positions in the vicinity of the driver's seat as shown in FIG. The characteristics of the DSP 13 are controlled so as to present to the driver a sound image 31 that moves in the space 35 in the vicinity of the driver's head position via the speaker 14. According to such a configuration, the trajectory of the sound image 31 (or the virtual wall surface W) is an arbitrary curve, so that the driver's attention acquisition rate can be improved. In this embodiment, the sound image 31 is presented to the driver, but the virtual wall surface W may be presented to the driver by the same method.

  Next, with reference to FIG. 13, the structure of the driver | operator perception control apparatus which becomes the 4th Embodiment of this invention is demonstrated.

In the driver perception control apparatus according to the fourth embodiment of the present invention, when the vehicle 11 is in a stable straight traveling state, the CPU 17 controls the characteristics of the DSP 13 so as to move the sound image 31 every calculation cycle. The sound image positions (sound image positions P- ₂ , P- ₁ in FIG. 13B) up to two calculation cycles before are stored. Further, the CPU 17 refers to the sound image positions before one calculation cycle and two calculation cycles before, and calculates the instantaneous moving center O ₋₁ of the sound image 31 before one calculation cycle, as shown in FIG. The next instantaneous movement center O of the sound image 31 is adjusted so that it does not coincide with the instantaneous movement center O ₋₁ of the sound image 31 one calculation cycle before.

  The inventors of the present application have found from experiments that when the sound image 31 always draws a constant trajectory, the driver gets used to the trajectory, and the attention acquisition rate decreases even if the trajectory is changed discontinuously. According to such a configuration, as shown in FIG. 13A, the trajectory of the sound image 31 draws a random arbitrary curve, which prevents the driver from getting used to the trajectory of the sound image 31, and the driver. The attention acquisition rate can be kept high.

  In this embodiment, the CPU 17 calculates the instantaneous moving center of the sound image 31 for each calculation cycle. For example, when the calculation cycle is 10 [mS], the timing is longer than the calculation cycle, such as every 100 [mS]. The instantaneous movement center may be calculated by According to such a configuration, it becomes easy to maintain the continuity of the locus drawn by the sound image 31.

  In the first embodiment, the CPU 17 controls the characteristics of the DSP 13 so that the movement trajectory of the sound image 31 has a sine curve shape. At this time, as in the present embodiment, the amplitude and period of the sine curve are controlled. May be changed randomly. According to such a configuration, the driver's familiarity with the sound image movement can be eliminated, and the driver's attention acquisition rate can be kept high.

  In this embodiment, the sound image 31 is presented to the driver, but the virtual wall surface W may be presented to the driver by the same method.

  Next, with reference to FIG. 14, the structure of the driver | operator perception control apparatus which becomes the 5th Embodiment of this invention is demonstrated.

  In the driver perception control apparatus according to the fifth embodiment of the present invention, when the vehicle 11 is in a stable straight traveling state, the CPU 17 performs the horizontal direction of the sound image 31 as shown in FIGS. 12 (a) and 12 (b). The characteristics of the DSP 13 are controlled so that the movement trajectory becomes a sine curve. At this time, the CPU 17 generates a random number so that the power spectrum obtained by plotting the power of the amplitude of the sine curve for each frequency is linear and proportional to the reciprocal of the frequency, as shown in FIG. 9C. Control the amplitude and period of the sine curve. According to such a configuration, the movement of the sound image 31 can be given 1 / f fluctuation, so that the driver can be prevented from feeling uncomfortable with the sound image 31 continuously moving around the head. Actually, it is difficult to accurately reproduce the 1 / f fluctuation characteristic shown in FIG. 9C by generating a random number, but as shown by the solid line in FIG. If the f fluctuation characteristic is approximately reproduced, it is possible to obtain the effect of this embodiment. In this embodiment, the sound image 31 is presented to the driver, but the virtual wall surface W may be presented to the driver by the same method.

  Next, with reference to FIG. 15, the structure of the driver | operator perception control apparatus which becomes the 6th Embodiment of this invention is demonstrated.

  In the driver perception control apparatus according to the sixth embodiment of the present invention, when the vehicle 11 is in a stable straight traveling state, the CPU 17 indicates that the sound image 31 is horizontal in the vehicle body fixed coordinate system as shown in FIG. The characteristics of the DSP 13 are controlled so as to swing on the shaft. Next, the CPU 17 controls the characteristics of the DSP 13 so as to stop the movement of the sound image 13 in response to the detection of the vehicle 11 turning rightward by the traveling state detection unit 15 (FIG. 15B). The time T shown in FIG.

  Next, according to the roll angle and pitch angle of the vehicle 11, the CPU 17 displaces the position of the sound image 31 to the inside in the turning direction and forward as shown in FIG. ), The characteristics of the DSP 13 are controlled so that the position of the sound image 31 is displaced downward (between time T = T2 and T3 shown in FIG. 15B). Then, as the vehicle 11 again enters a stable straight-ahead state, the CPU 17 controls the characteristics of the DSP 13 so that the sound image 31 swings on the horizontal axis in the vehicle body fixed coordinate system (see FIG. 15B). Time T = after T3).

  Considering general driving scenes, it is desirable for the driver to pay attention to the line L1 inside the corner as shown in FIG. 16 (a). It is difficult to watch the line L1. However, according to this embodiment, the driver's attention is acquired by temporarily stopping the sound image 31 that has been oscillating, and the driver's attention is moved to the inside in the turning direction by moving the sound image 31 in the turning direction. Therefore, the driver's attention can be reliably acquired and the driving operation of the driver can be stabilized in a driving scene where the load on the driver increases. Further, according to this embodiment, it is possible to obtain a virtuous circulation effect in which the driver's sense of balance is kept stable and the driving operation is further stabilized.

  Further, it is known that when the vehicle turns, it is a comfortable driving posture for the driver to roll while the vehicle body sinks. However, if the suspension characteristics are actually set so as to achieve such a vehicle posture, a trade-off occurs in factors such as ride comfort and handling stability, so the current vehicle does not necessarily have a sinking roll posture when turning. Not. However, according to this embodiment, as shown in FIG. 16 (b), by moving the sound image 31 downward during turning, the driver's attention can be guided downward during turning, so that the vehicle body sinks. The driver can be given a feeling that

  In this embodiment, when the vehicle 11 is turning, the CPU 17 simultaneously moves the sound image 31 in the front and lower three-axis directions inside the turning direction. However, the CPU 17 moves the sound image 31 in one or two axes. You may make it do. In addition, this embodiment is an example of processing when the vehicle 11 changes from the stable straight traveling state to the turning state, but similar processing can be performed when the vehicle 11 changes from the turning state to the straight traveling state.

  Next, with reference to FIG. 17, the structure of the driver | operator perception control apparatus which becomes the 7th Embodiment of this invention is demonstrated.

  In the driver perception control apparatus according to the seventh embodiment of the present invention, when the vehicle 11 is in a stable straight traveling state, the CPU 17 displays the virtual wall surface W in the vehicle body fixed coordinate system as shown in FIG. The characteristics of the DSP 13 are controlled so as to swing at an angle θ with respect to the horizontal plane W1. Next, the CPU 17 controls the characteristics of the DSP 13 so as to stop the swing of the virtual wall surface W in response to the vehicle state 11 being detected by the traveling state detection unit 15 (FIG. 17B). Time T = between T1 and T2). Next, when the roll angle θ1 occurs with respect to the horizontal axis L2, as shown in FIG. 17C, the CPU 17 tilts the virtual wall surface W in the direction opposite to the roll angle θ1 with respect to the horizontal axis L2. The characteristics of the DSP 13 are controlled (time T = T2 to T3 shown in FIG. 17B).

  Then, in response to the vehicle 11 again being in a stable linear state, the CPU 17 controls the characteristics of the DSP 13 so that the virtual wall surface W swings at an angle θ with respect to the horizontal plane in the vehicle body fixed coordinate system (FIG. 17 ( (b) After time T = T3). In the turning state in which the roll angle θ1 is generated in the vehicle body, as shown in FIG. 17C, the center axis L5 of the head of the driver 6 is inclined by the angle θ2 inward in the turning direction with respect to the vehicle vertical axis L4. However, at this time, it is desirable that the inclination angle of the virtual wall surface W be an angle orthogonal to the central axis L3.

  According to such a configuration, the virtual wall surface W serves as a reference line for the sense of equilibrium of the driver 6 during a turn in which the roll angle θ1 occurs, so that the driving posture is stabilized and steering disturbance is suppressed. Can do. For details of the effect of stabilizing the driving posture by presenting the reference line, refer to the previous application (Japanese Patent Application No. 2003-156980) by the inventors of the present invention.

  As mentioned above, although the embodiment to which the invention made by the present inventors was applied has been described, the present invention is not limited by the description and the drawings that form part of the disclosure of the present invention according to this embodiment. That is, it should be added that other embodiments, examples, operation techniques, and the like made by those skilled in the art based on the above embodiments are all included in the scope of the present invention.

It is a schematic diagram which shows the structure of the experiment apparatus performed in order to extract the mode of the pupil diameter change of the eyeball with respect to the horizontal position change of a reflecting plate. It is a schematic diagram which shows the structure of the experiment apparatus performed in order to extract the mode of the pupil diameter change of the eyeball with respect to the horizontal position change of a reflecting plate. It is a figure which shows the mode of the change of the pupil diameter of the eyeball with respect to the horizontal position change of a reflecting plate. It is a figure which shows the structure of the driver | operator perception control apparatus used as the 1st Embodiment of this invention. It is a block diagram which shows the internal structure of the driving | running | working state detection part and vehicle body attitude | position estimation part which are shown in FIG. It is a figure which shows the motion of the sound image which the driver | operator perception control apparatus shown in FIG. 4 presents when a vehicle is in the stable straight-ahead state. It is a figure which shows the motion of the sound image which the driver | operator perception control apparatus shown in FIG. 4 presents when the necessity to acquire a driver | operator's attention arises. It is a figure which shows the application example of the motion of the sound image shown in FIG. It is a figure for demonstrating the structure of the virtual wall surface used as embodiment of this invention. It is a figure which shows the application example of a structure of the driver | operator perception control apparatus shown in FIG. It is a figure which shows the motion of the sound image which the driver | operator perception control apparatus which becomes the 2nd Embodiment of this invention shows, when a vehicle is in the stable straight-ahead state. It is a figure which shows the motion of the sound image which the driver | operator perception control apparatus which becomes the 3rd Embodiment of this invention shows, when a vehicle is in the stable straight-ahead state. It is a figure which shows the motion of the sound image which the driver | operator perception control apparatus which becomes the 4th Embodiment of this invention shows, when a vehicle is in the stable straight-ahead state. It is a figure which shows the motion of the sound image which the driver | operator perception control apparatus which becomes the 5th Embodiment of this invention when a vehicle is in the stable straight-ahead state presents. It is a figure which shows the motion of the sound image which the driver | operator perception control apparatus which becomes the 6th Embodiment of this invention shows when the vehicle is in the stable straight-ahead state, and when it becomes necessary to acquire a driver | operator's attention. . It is a figure for demonstrating the effect acquired by the motion of the sound image shown in FIG. It is a figure which shows the motion of the sound image which the driver | operator perception control apparatus which becomes the 7th Embodiment of this invention shows, when the vehicle is in the stable straight-ahead state, and when it becomes necessary to acquire a driver | operator's attention. .

Explanation of symbols

11: Vehicle 12: Sound source 13: DSP (Digital Signal Processor)
14: Speaker 15: Traveling state detection unit 16: Vehicle body posture estimation unit 17: CPU (Central Processing Unit)
31: Sound image W: Virtual wall surface

Claims (13)

An output means provided in the vehicle for outputting sound into the vehicle interior;
Control means for controlling the output means so as to present a sound image to the driver,
The control means is configured such that at least one of a position, a speed, and an acceleration in the vehicle body fixed coordinate system is mathematically continuous according to at least one of a vehicle state quantity, a vehicle operation quantity, and an ambient environment. At least one of the changing first operation state and the position, velocity, and acceleration in the vehicle body fixed coordinate system changes in a mathematically discontinuous state with respect to the position, velocity, and acceleration in the first operation state. When the sound image presentation form is switched between the second operation state and the sound image is presented according to the first operation state, the movement locus of the sound image is positioned on a single straight line in the vehicle body solid coordinate system. A driver perception control apparatus characterized by controlling the output means . An output means provided in the vehicle for outputting sound into the vehicle interior;
Control means for controlling the output means so as to present a sound image to the driver,
The control means is configured such that at least one of a position, a speed, and an acceleration in the vehicle body fixed coordinate system is mathematically continuous according to at least one of a vehicle state quantity, a vehicle operation quantity, and an ambient environment. At least one of the changing first operation state and the position, velocity, and acceleration in the vehicle body fixed coordinate system changes in a mathematically discontinuous state with respect to the position, velocity, and acceleration in the first operation state. When the sound image presentation form is switched between the second operation state and the sound image is presented according to the first operation state, the movement locus of the sound image is located on a single plane in the vehicle body solid coordinate system , A driver perception control apparatus, characterized in that the output means is controlled so that an instantaneous movement center of a sound image is different from a previous sound image instantaneous movement center . An output means provided in the vehicle for outputting sound into the vehicle interior;
Control means for controlling the output means so as to present a sound image to the driver,
The control means is configured such that at least one of a position, a speed, and an acceleration in the vehicle body fixed coordinate system is mathematically continuous according to at least one of a vehicle state quantity, a vehicle operation quantity, and an ambient environment. At least one of the changing first operation state and the position, velocity, and acceleration in the vehicle body fixed coordinate system changes in a mathematically discontinuous state with respect to the position, velocity, and acceleration in the first operation state. When the presentation form of the sound image is switched between the second operation state and the sound image is presented in the first operation state, the movement trajectory of the sound image becomes a curve in the space in the vehicle body solid coordinate system , and the sound image The driver perception control apparatus, wherein the output means is controlled so that the instantaneous movement center is different from the previous sound image instantaneous movement center . The driver perception control device according to any one of claims 1 to 3 ,
The control means, when presenting a sound image in the first operation state, the output means so that at least one state change of the position, velocity, and acceleration of the sound image in the vehicle body fixed coordinate system has no periodicity. A driver perception control device characterized by controlling the driver. The driver perception control device according to any one of claims 1 to 4 ,
When the control means presents a sound image in the first operation state, the control means controls the output means so that at least one state change of the position, speed, and acceleration of the sound image in the vehicle body fixed coordinate system exhibits fluctuation characteristics. A driver perception control device characterized by controlling. The driver perception control device according to any one of claims 1 to 5,
A running state detecting means for detecting at least one of a turning state and an acceleration / deceleration state of the vehicle;
When it is determined by the traveling state detection means that the vehicle transitions from a stable straight traveling state to a turning state or an acceleration / deceleration state, or from a steady turning state or an acceleration / deceleration state to a straight traveling state, the control unit includes: The driver perception control device , wherein the presentation form of the sound image is switched between the first operation state and the second operation state . The driver perception control device according to claim 6 ,
A vehicle body posture detection means for detecting or estimating a vehicle body posture with respect to the earth fixed coordinates is provided,
Wherein, when presenting the sound image by the second operation state, the position of the sound image of the vehicle body fixed coordinate system detection, speed, and by at least one of said vehicle body attitude detection means of the acceleration, or the estimated A driver perception control apparatus characterized by controlling the output means so as to change according to a vehicle body posture . An output means provided in the vehicle for outputting sound into the vehicle interior;
Assuming a virtual wall surface, the control means for controlling the output means so that the sound reflected from the virtual wall surface is included in the sound,
The control means has at least one of position, velocity, acceleration, angle, angular velocity, and angular acceleration in the vehicle body fixed coordinate system according to at least one of a vehicle state quantity, a vehicle operation quantity, and an ambient environment. At least one of a first motion state that changes mathematically in a continuous state and a position, velocity, acceleration, angle, angular velocity, and angular acceleration in the vehicle body fixed coordinate system is a position, velocity, The presentation form of the virtual wall surface is switched between a second operation state that changes mathematically in a discontinuous state with respect to acceleration, angle, angular velocity, and angular acceleration, and the virtual wall surface is changed according to the first operation state. When presenting, the movement trajectory of an arbitrary point on the virtual wall surface is located on a single plane in the solid body coordinate system, and the instantaneous movement center of the arbitrary point on the virtual wall surface is different from the previous sound image instantaneous movement center. The driver perceived control device and controls the serial output means. An output means provided in the vehicle for outputting sound into the vehicle interior;
Assuming a virtual wall surface, the control means for controlling the output means so that the sound reflected from the virtual wall surface is included in the sound,
The control means has at least one of position, velocity, acceleration, angle, angular velocity, and angular acceleration in the vehicle body fixed coordinate system according to at least one of a vehicle state quantity, a vehicle operation quantity, and an ambient environment. At least one of a first motion state that changes mathematically in a continuous state and a position, velocity, acceleration, angle, angular velocity, and angular acceleration in the vehicle body fixed coordinate system is a position, velocity, The presentation form of the virtual wall surface is switched between a second operation state that changes mathematically in a discontinuous state with respect to acceleration, angle, angular velocity, and angular acceleration, and the virtual wall surface is changed according to the first operation state. When presenting, the movement trajectory of an arbitrary point on the virtual wall surface is located on a single plane in the vehicle body solid coordinate system, and the movement trajectory of the arbitrary point on the virtual wall surface becomes a curve in space in the vehicle body solid coordinate system. The driver perceived control apparatus characterized by instantaneous movement center of any point on the virtual wall to control the output means to be different from the previous sound teleportation center. The driver perception control device according to claim 8 or 9, wherein
The control means, when presenting the virtual wall surface in the first operation state, at least one of the position, velocity, acceleration, angle, angular velocity, and angular acceleration of an arbitrary point on the virtual wall surface in the vehicle body fixed coordinate system The driver perception control apparatus , wherein the output means is controlled so that the state change does not have periodicity . The driver perception control device according to any one of claims 8 to 10,
The control means, when presenting the virtual wall surface in the first operation state, at least one of the position, velocity, acceleration, angle, angular velocity, and angular acceleration of an arbitrary point on the virtual wall surface in the vehicle body fixed coordinate system A driver perception control apparatus, wherein the output means is controlled so that a change in state exhibits a fluctuation characteristic. The driver perception control device according to any one of claims 8 to 11,
A running state detecting means for detecting at least one of a turning state and an acceleration / deceleration state of the vehicle;
By the traveling state detecting means, when the vehicle is stably transition from the straight state to the turning state or deceleration state, or it is determined that the transition from steady turning state or deceleration state to the straight traveling state, the control means, The driver perception control apparatus characterized by switching the presentation form of the virtual wall surface between the first operation state and the second operation state . A driver perception control apparatus according to 請 Motomeko 12,
A vehicle body posture detection means for detecting or estimating a vehicle body posture with respect to the earth fixed coordinates is provided,
When the control means presents the virtual wall surface in the second operation state, at least one of the position, velocity, acceleration, angle, angular velocity, and angular acceleration of an arbitrary point on the virtual wall surface in the vehicle body fixed coordinate system A driver perception control apparatus, wherein the output means is controlled so as to change according to the vehicle body attitude detected or estimated by the vehicle body attitude detection means .